Protected Member Functions

Estimate the Point Feature Histograms (PFH) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...

if a query point's nearest neighbors cannot be estimated, the PFH feature will be set to NaN (not a number)

it is impossible to estimate a PFH descriptor for a point that doesn't have finite 3D coordinates. Therefore, any point that contains NaN data on x, y, or z, will have its PFH feature property set to NaN.

Note

The code is stateful as we do not expect this class to be multicore parallelized. Please look at FPFHEstimationOMP for examples on parallel implementations of the FPFH (Fast Point FeatureHistogram).

Member Function Documentation

Estimate the Point Feature Histograms (PFH) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters

[out]

output

the resultant point cloud model dataset that contains the PFH feature estimates

Set whether to use an internal cache mechanism for removing redundant calculations or not.

Note

Depending on how the point cloud is ordered and how the nearest neighbors are estimated, using a cache could have a positive or a negative influence. Please test with and without a cache on your data, and choose whatever works best!